Bounded attitude control of a biomimetic flapping robot

Flapping micro Unmanned Air Vehicles (UAVs) can be considered as high frequency periodic systems. Based on the averaging theory, only the mean aerodynamic forces and torques over a wingbeat affect the movement of the body. Therefore, a nonlinear bounded state feedback control law is calculated upon the averaged model and applied to the time varying system represented by the flapping body in order to stabilize its attitude.